13 citations · 34 across the 28 of their papers we have counts for
5 papers · 1 filter
Flow Matching for Measure Transport and Feedback Stabilization of Control-Affine Systems
Karthik Elamvazhuthi
We develop a \emph{flow-matching framework} for transporting probability measures under control-affine dynamics and for steering systems to points or target sets. Starting from the…
Uniform Sampling from the Reachable Set Using Optimal Transport
Karthik Elamvazhuthi, Sachin Shivakumar
Estimating the reachable set of a dynamical system is a fundamental problem in control theory, particularly when control inputs are bounded. Direct simulation using randomly sample…
Score Matching Diffusion Based Feedback Control and Planning of Nonlinear Systems
Karthik Elamvazhuthi, Darshan Gadginmath, Fabio Pasqualetti
In this paper, we propose a deterministic diffusion-based framework for controlling the probability density of nonlinear control-affine systems, with theoretical guarantees for dri…
The Ground Cost for Optimal Transport of Angular Velocity
Karthik Elamvazhuthi, Abhishek Halder
We revisit the optimal transport problem over angular velocity dynamics given by the controlled Euler equation. The solution of this problem enables stochastic guidance of spin sta…
Quantitative Flow Approximation Properties of Narrow Neural ODEs
Karthik Elamvazhuthi
In this note, we revisit the problem of flow approximation properties of neural ordinary differential equations (NODEs). The approximation properties have been considered as a flow…